CN113900544A - Oblique insertion mechanism, assembling device and oblique insertion method - Google Patents
Oblique insertion mechanism, assembling device and oblique insertion method Download PDFInfo
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- CN113900544A CN113900544A CN202111177802.6A CN202111177802A CN113900544A CN 113900544 A CN113900544 A CN 113900544A CN 202111177802 A CN202111177802 A CN 202111177802A CN 113900544 A CN113900544 A CN 113900544A
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- 238000003780 insertion Methods 0.000 title claims abstract description 81
- 230000037431 insertion Effects 0.000 title claims abstract description 78
- 238000012966 insertion method Methods 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 20
- 230000000007 visual effect Effects 0.000 claims abstract description 18
- 238000012937 correction Methods 0.000 claims description 14
- 230000001154 acute effect Effects 0.000 claims description 4
- 238000002788 crimping Methods 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- UQMRAFJOBWOFNS-UHFFFAOYSA-N butyl 2-(2,4-dichlorophenoxy)acetate Chemical compound CCCCOC(=O)COC1=CC=C(Cl)C=C1Cl UQMRAFJOBWOFNS-UHFFFAOYSA-N 0.000 description 3
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- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0412—Digitisers structurally integrated in a display
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- G—PHYSICS
- G02—OPTICS
- G02F—OPTICAL DEVICES OR ARRANGEMENTS FOR THE CONTROL OF LIGHT BY MODIFICATION OF THE OPTICAL PROPERTIES OF THE MEDIA OF THE ELEMENTS INVOLVED THEREIN; NON-LINEAR OPTICS; FREQUENCY-CHANGING OF LIGHT; OPTICAL LOGIC ELEMENTS; OPTICAL ANALOGUE/DIGITAL CONVERTERS
- G02F1/00—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics
- G02F1/01—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour
- G02F1/13—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour based on liquid crystals, e.g. single liquid crystal display cells
- G02F1/1303—Apparatus specially adapted to the manufacture of LCDs
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/041—Indexing scheme relating to G06F3/041 - G06F3/045
- G06F2203/04103—Manufacturing, i.e. details related to manufacturing processes specially suited for touch sensitive devices
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Abstract
The invention relates to an oblique insertion mechanism, an assembly device and an oblique insertion method, wherein the oblique insertion mechanism comprises a working platform, a carrying assembly, an actuating mechanism, a visual positioning system and a control device; the visual positioning system is used for acquiring first position information of the accommodating groove and obtaining oblique insertion inclination angle data according to the first position information; the control device is respectively electrically connected with the vision positioning system and the actuating mechanism, the control device is used for receiving oblique insertion inclination angle data and sending an oblique insertion control instruction to the actuating mechanism, and the oblique insertion control instruction is used for controlling the actuating mechanism to drive the touch screen to move towards the first bearing area by the oblique insertion inclination angle so that the flexible circuit board is obliquely inserted into the accommodating groove. The invention avoids the phenomenon that the flexible circuit board is distorted and scratched because the flexible circuit board contacts the edge of the accommodating groove in the assembling process, thereby improving the success rate of crimping of the assembled product.
Description
Technical Field
The invention relates to the technical field of liquid crystal module assembly, in particular to an oblique insertion mechanism, an assembly device and an oblique insertion method.
Background
With the development of the liquid crystal module assembly technology, the assembly technology of the touch screen and the shell appears, generally, the upper part of the shell is provided with an opening for installing the touch screen, and one side of the assembly of the touch screen and the shell is provided with a Flexible Printed Circuit (FPC).
In a conventional assembly method, an assembler usually holds a vacuum suction pen to pick up the touch screen, adjusts the position and posture of the touch screen according to the position of the opening in the housing, and then assembles the touch screen on the opening in the housing, wherein the assembled flexible printed circuit board is accommodated in the housing. The existing whole assembly process is easy to cause the flexible circuit board to be distorted and scratched, so that the crimping success rate is reduced when an assembled product reaches a crimping detection working section for crimping detection.
Disclosure of Invention
Accordingly, it is necessary to provide a diagonal insertion mechanism, an assembling device, and a diagonal insertion method for solving the problem that the flexible printed circuit board is distorted or scratched, which reduces the success rate of crimping of the assembled product.
An oblique insertion mechanism is used for assembling a touch screen and a shell, the touch screen is provided with a flexible circuit board, the shell is provided with a holding groove for holding the flexible circuit board, and the oblique insertion mechanism comprises a working platform, a carrying assembly, an execution mechanism, a visual positioning system and a control device; the carrying assembly is arranged on the working platform and provided with a first carrying area for carrying the shell; the executing mechanism is arranged on the working platform and positioned on one side of the carrying component, and is used for picking up the touch screen and driving the touch screen to move towards the direction close to/far from the first bearing area; the visual positioning system is used for acquiring first position information of the accommodating groove and obtaining oblique insertion inclination angle data according to the first position information; the control device is electrically connected with the vision positioning system and the actuating mechanism respectively, and is used for receiving the oblique insertion inclination angle data and sending an oblique insertion control instruction to the actuating mechanism, wherein the oblique insertion control instruction is used for controlling the actuating mechanism to drive the touch screen to move towards the first bearing area by an oblique insertion inclination angle, so that the flexible circuit board is obliquely inserted into the accommodating groove.
Above-mentioned insert mechanism to one side can acquire the first positional information of holding tank through setting up vision positioning system to insert the inclination data to one side according to first positional information, actuating mechanism acquires to insert control command drive touch-sensitive screen to one side and removes towards first bearing area with inserting the inclination, so that the flexible printed circuit board slope inserts in the holding tank, thereby has avoided leading to the flexible printed circuit board to appear the phenomenon of distortion, fish tail because of flexible printed circuit board contact holding tank edge in the assembling process, and then has improved the product crimping success rate after the equipment.
The technical solution of the present application is further explained as follows:
in one embodiment, the work platform is provided with a loading station and an inclined insertion station, the object assembly comprises a rotary object table and a rotary driving device arranged on the work platform, the rotary object table is provided with a first bearing area and a second bearing area used for bearing the touch screen, and the rotary driving device is used for driving the rotary object table to rotate so that the first bearing area and the second bearing area move between the loading station and the inclined insertion station. In one embodiment, the visual positioning system includes a first camera and a second camera respectively disposed on the rotary stage, the first camera is disposed opposite to the first carrying area in a first direction, the second camera is disposed opposite to the first carrying area in a second direction, and the first direction and the second direction form an acute angle.
In one embodiment, the visual positioning system is used for acquiring second position information of the touch screen carried in the second carrying area; the control device is used for receiving the second position information and sending a pickup control instruction to the executing mechanism, wherein the pickup control instruction is used for controlling the executing mechanism to pick up the touch screen.
In one embodiment, the vision positioning system is configured to acquire third position information of a housing carried in the first carrying area and fourth position information of a touch screen held in the actuator, and obtain pose correction data according to the third position information and the fourth position information; the control device is used for receiving the pose correction data and sending a pose adjusting instruction to the executing mechanism, and the pose adjusting instruction is used for controlling the executing mechanism to adjust the pose of the touch screen.
In one embodiment, the visual positioning system comprises a first camera arranged on the rotary object stage, and a third camera and a fourth camera respectively arranged on the working platform; the first camera is arranged opposite to the first bearing area in a first direction, the third camera is arranged opposite to a shooting point position in the first direction, the fourth camera is arranged opposite to the shooting point position in a third direction, the first direction is vertical to the third direction, and the shooting point position is located in a movable range of the touch screen kept on the execution mechanism.
In addition, the application also provides an assembling device which comprises the inclined insertion mechanism.
The application also provides an oblique insertion method which is applied to the oblique insertion mechanism, and the method comprises the following steps: acquiring first position information of the accommodating groove; obtaining oblique interpolation dip angle data according to the first position information; receiving the oblique insertion inclination angle data and sending an oblique insertion control instruction to the executing mechanism; and controlling the actuating mechanism to drive the touch screen to move towards the first bearing area by an inclined insertion inclination angle so as to enable the flexible circuit board to be inserted into the accommodating groove in an inclined manner.
In one embodiment, the method further comprises: acquiring second position information of the touch screen; receiving the second position information and sending a pickup control instruction to the executing mechanism; and controlling the actuating mechanism to pick up the touch screen.
In one embodiment, the method further comprises: acquiring third position information of the shell; acquiring fourth position information of the touch screen held by the actuator; obtaining pose correction data according to the third position information and the fourth position information; receiving the pose correction data and sending a pose adjustment instruction to the executing mechanism; and controlling the actuating mechanism to adjust the pose of the touch screen.
Drawings
FIG. 1 is an exploded view of a watch screen and a watch case according to an embodiment of the present invention;
FIG. 2 is an exploded view of the watch screen of FIG. 1 from another perspective of the watch case;
FIG. 3 is a schematic structural diagram of a bevel insertion mechanism according to an embodiment of the present invention;
FIG. 4 is a partial enlarged view of portion A of FIG. 3;
FIG. 5 is a schematic structural diagram of a slanted insertion mechanism (not shown) according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of the inclined insertion mechanism (actuator hidden) in FIG. 5;
FIG. 7 is a partial enlarged view of portion B of FIG. 6;
FIG. 8 is a schematic structural diagram of an assembly apparatus according to an embodiment of the present invention;
FIG. 9 is a flowchart illustrating a method of a skewed insertion method according to an embodiment of the invention;
FIG. 10 is a flowchart illustrating a method for picking up a touch screen according to an embodiment of the present invention;
fig. 11 is a flowchart illustrating a method for aligning and adjusting a touch screen according to an embodiment of the present invention.
Reference numerals:
1. assembling the device; 10. an inclined insertion mechanism; 100. a working platform; 111. a feeding station; 112. obliquely inserting stations; 200. a carrier assembly; 210. a rotation driving device; 220. rotating the object stage; 221. a first jig; 2211. a first bearing area; 2212. a first positioning portion; 2213. a second positioning portion; 2214. a first arranging cylinder; 2215. a second arranging cylinder; 222. a second jig; 2221. a second bearing area; 2222. a third positioning part; 2223. a fourth positioning portion; 2224. a third arranging cylinder; 2225. a fourth arranging cylinder; 300. an actuator; 310. a six-axis manipulator; 320. an adsorption device; 400. a visual positioning system; 410. a first camera; 420. a second camera; 430. a third camera; 440. a fourth camera; 450. a fifth camera; 20. an outer frame; 21. a feeding port; 30. a touch screen; 31. a flexible wiring board; 40. a housing; 41. accommodating grooves; 42. an opening; 50. and shooting the point location.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
Referring to fig. 1-3, an embodiment of the present invention provides a tilt-insertion mechanism 10 for assembling a touch screen 30 and a housing 40. Referring to fig. 1, the touch panel 30 is provided with a flexible wiring board 31, and the case 40 is provided with a receiving groove 41 for receiving the flexible wiring board 31, and specifically, in the present embodiment, the bezel 10 is used for assembling the wristwatch panel with the watch case, the flexible wiring board 31(FPC) is provided on the side of the wristwatch panel for assembling with the watch case, the watch case has an opening 42 for mounting the wristwatch panel, and the receiving groove 41 is provided in the watch case, and when the wristwatch panel is assembled to the watch case, the flexible wiring board 31(FPC) fixed to the touch panel 30 is at least partially received in the receiving groove 41.
Referring to fig. 3, the inclined insertion mechanism 10 includes a working platform 100, a carrying assembly 200, an actuator 300, a visual positioning system 400, and a control device (not shown); wherein, the object carrying assembly 200 is disposed on the working platform 100, and referring to fig. 4 in combination, the object carrying assembly 200 is provided with a first carrying area 2211 for carrying the housing 40. The actuator 300 is disposed on the working platform 100 and located at one side of the object assembly 200, and the actuator 300 is configured to pick up the touch screen 30 and drive the touch screen 30 to move toward/away from the first bearing area 2211. The vision positioning system 400 is configured to obtain first position information of the accommodating groove 41, and obtain oblique insertion tilt angle data according to the first position information. The control device is electrically connected to the vision positioning system 400 and the actuator 300, respectively, and is configured to receive the oblique insertion tilt angle data and send an oblique insertion control command to the actuator 300, where the oblique insertion control command is used to control the actuator 300 to drive the touch screen 30 to move toward the first loading area 2211 with the oblique insertion tilt angle, so that the flexible printed circuit board 31 is inserted into the accommodating groove 41 in an oblique manner. Preferably, referring to FIG. 1, in one embodiment, when the receiving groove 41 is provided at the inside edge of the watch case, the skew angle is 10 to 15.
In the oblique insertion mechanism 10, the vision positioning system 400 is arranged to acquire the image of the accommodating groove 41, identify the sideline of the accommodating groove 41 according to the image and obtain the first position information, and calculate to obtain the oblique insertion inclination angle data according to the first position information, wherein the oblique insertion inclination angle data corresponds to an oblique insertion inclination angle, and the requirement that the flexible circuit board 31 is inserted into the accommodating groove 41 while avoiding the edge of the accommodating groove 41 can be met by moving along the moving direction corresponding to the oblique insertion inclination angle. The executing mechanism 300 obtains the oblique insertion control command to drive the touch screen 30 to move toward the first bearing area 2211 at the oblique insertion inclination angle, so that the flexible printed circuit 31 is obliquely inserted into the accommodating groove 41, thereby avoiding the phenomenon that the flexible printed circuit 31 is distorted and scratched due to the fact that the flexible printed circuit 31 contacts the edge of the accommodating groove 41 in the assembling process, and further improving the success rate of crimping the assembled product.
The Specific type of the control Device is not limited, and may be an embedded Digital Signal Processor (DSP), a Microprocessor (MPU), an Application Specific Integrated Circuit (ASIC), or a Programmable Logic Device (PLD), for example.
With continued reference to fig. 3, in one embodiment, the actuator 300 includes a six-axis robot 310 disposed on the work platform 100 and a suction device 320 fixed to a driving end of the six-axis robot 310. The inclined insertion mechanism 10 can meet the multi-degree-of-freedom pose adjustment requirement of the touch screen 30 by adopting the six-axis manipulator 310, so that the driving flexibility of the actuator 300 is improved, and the vacuum adsorption pickup is performed on the touch screen 30 by adopting the adsorption device 320, so that the actuator 300 can pick up the touch screen 30. It should be noted that the type of the suction device 320 is not limited, and it may be any device that has a suction area and the suction area is communicated with a vacuum gas path, for example, the suction device 320 may be a vacuum anti-rotation chuck.
It should be noted that, in the present application, the arrangement manner of the carrier assembly 200 on the working platform 100 is not limited, and the carrier assembly 200 may be fixedly arranged on the working platform 100 (not shown in the figure), that is, the carrier assembly 200 is stationary relative to the working platform 100, and the touch screen 30 is assembled on the upper portion thereof after the housing 40 is placed at the same position; the carrier assembly 200 may also be movably disposed on the work platform 100, that is, the carrier assembly 200 can be displaced relative to the work platform 100 to move between a plurality of stations. For example, with continued reference to fig. 3, in an embodiment, the carrier assembly 200 is rotatably disposed on the work platform 100, and the work platform 100 is provided with a feeding station 111 and an inclined insertion station 112 along a rotation direction of the carrier assembly 200, wherein the inclined insertion station 112 is provided with an actuator 300, so that the first loading area 2211 can move between the feeding station 111 and the inclined insertion station 112. It should be noted that the loading station 111 and the inclined insertion station 112 are spatial regions above the work platform 100. The inclined insertion mechanism 10 places the watch case in the first bearing area 2211 at the loading station 111, and drives the first bearing area 2211 to rotate relative to the working platform 100 through the driving carrying assembly 200, so as to move the housing 40 borne by the first bearing area 2211 to the inclined insertion station 112, so as to drive the actuator 300 located at the inclined insertion station 112 to drive the touch screen 30 to move towards the first bearing area 2211, so that the flexible printed circuit board 31 is obliquely inserted into the accommodating groove 41, the range of the moving area covered by the actuator 300 is reduced to a certain extent, and the structure setting is reasonable.
Specifically, referring to fig. 3, 6 and 7, in an embodiment, the object assembly 200 includes a rotary object stage 220 and a rotary driving device 210 disposed on the working platform 100, the rotary object stage 220 is provided with a first bearing area 2211 and a second bearing area 2221 for bearing the touch screen 30, and the rotary driving device 210 is configured to drive the rotary object stage 220 to rotate, so that the first bearing area 2211 and the second bearing area 2221 move between the loading station 111 and the inclined insertion station 112. The inclined insertion mechanism 10 is provided with a first carrying area 2211 and a second carrying area 2221 on the rotary stage 220, so that the touch screen 30 and the housing 40 can be simultaneously placed on the rotary stage 220, and the first carrying area 2211 and the second carrying area 2221 can synchronously rotate and displace relative to the working platform 100, so that the touch screen 30 and the housing 40 can be simultaneously moved from the loading station 111 to the inclined insertion station 112. Thus, a structure for providing and supporting the touch screen 30 is not required to be additionally provided, and the touch screen 30 and the housing 40 are arranged in parallel, which is beneficial to miniaturization of the device. It should be noted that, the carrying assembly 200 may be disposed on the working platform 100 by disposing a guide rail on the working platform 100, disposing a feeding station and an inclined insertion station on the guide rail along the extending direction, and driving the carrying assembly by using a linear driving device to drive the first carrying area to move between the feeding station and the inclined insertion station. However, compared with a linear displacement mode, the structure for realizing the rotary displacement between the carrying component and the working platform is simpler, and the device is more beneficial to miniaturization.
Specifically, with reference to fig. 4, in an embodiment, the rotary stage 220 is provided with a first fixture 221 and a second fixture 222, the first fixture 221 is provided with a first bearing area 2211, and the second fixture 222 is provided with a second bearing area 2221. The first fixture 221 includes a first positioning portion 2212 and a second positioning portion 2213 which are perpendicular to each other, a first arranging cylinder 2214 which is disposed opposite to the first positioning portion 2212, and a second arranging cylinder 2215 which is disposed opposite to the second positioning portion 2213. The second fixture 222 includes a third positioning portion 2222 and a fourth positioning portion 2223 which are perpendicular to each other, a third arranging cylinder 2224 which is disposed opposite to the third positioning portion 2222, and a fourth arranging cylinder 2225 which is disposed opposite to the fourth positioning portion 2223. After the above-mentioned oblique inserting mechanism 10 completes the feeding step, it can drive the first and second leveling cylinders 2214 and 2215 to extend out, so that two mutually perpendicular side surfaces of the housing 40 placed on the first fixture 221 respectively abut against the first and second positioning portions 2212 and 2213, and the positioning of the housing 40 is completed. Similarly, the third and fourth arranging cylinders 2224 and 2225 may be driven to extend out, so that two edges of the touch screen 30 placed on the second fixture 222, which are perpendicular to each other, are respectively abutted against the third positioning portion 2222 and the fourth positioning portion 2223, thereby completing the positioning of the touch screen 30. Therefore, the position repeatability of the housing 40 in the first fixture 221 and the position repeatability of the touch screen 30 in the second fixture 222 can be improved in each oblique insertion process, so as to facilitate subsequent picking and oblique insertion assembly.
The vision positioning system 400 can obtain the first position information of the accommodating groove 41, referring to fig. 5-7, specifically, in one embodiment, the vision positioning system 400 includes a first camera 410 and a second camera 420 respectively disposed on the rotary stage 220. The first camera 410 is disposed opposite to the first carrying area 2211 in the first direction (z direction in fig. 5), and is configured to acquire an image of the housing 40 carried in the first carrying area 2211, so as to obtain the x-direction and y-direction profile of the housing 40, and synchronously obtain the x-direction and y-direction profile of the accommodating groove 41 in the housing 40. The second camera 420 is disposed opposite to the first bearing area 2211 in the second direction, and is configured to collect an image of the housing 40 loaded in the first bearing area 2211 and identify a side line of the accommodating groove 41, so as to obtain coordinate data of the accommodating groove 41 in the z direction inside the housing 40. Wherein the first direction is at an acute angle (shown as angle a in fig. 7) to the second direction. It should be noted that the acute angle is set or adjusted according to the position of the accommodating groove 41 on the housing 40 and the inclination angle of the accommodating groove 41, based on the sideline that the second camera 420 can collect the accommodating groove 41.
With continued reference to fig. 6 and 7, in an embodiment, the visual positioning system 400 is configured to obtain second position information of the touch screen 30 carried in the second carrying area 2221; the control device is configured to receive the second position information and send a pickup control instruction to the actuator 300, where the pickup control instruction is used to control the actuator 300 to pick up the touch screen 30, so as to more accurately capture the touch screen 30. Specifically, in an embodiment, the visual positioning system 400 includes a fifth camera 450 disposed opposite to the second bearing area 2221 in the first direction, and the fifth camera 450 is configured to capture an image of the touch screen 30 borne on the second bearing area 2221, so as to obtain the profile of the touch screen 30 in the x direction and the y direction.
With continued reference to fig. 6 and 7, in some embodiments, the vision positioning system 400 is configured to obtain third position information of the housing 40 carried in the first carrying area 2211 and fourth position information of the touch screen 30 held in the actuator 300, and obtain pose correction data according to the third position information and the fourth position information; the control device is used for receiving the pose correction data and sending a pose adjustment instruction to the execution mechanism 300, wherein the pose adjustment instruction is used for controlling the execution mechanism 300 to adjust the pose of the touch screen 30. In the process of visual positioning, target pose data of the touch screen 30 are obtained according to the third position information of the shell 40; and obtaining current pose data according to the fourth position information of the touch screen 30, comparing the current pose data with the target pose data to obtain pose correction data, and then adjusting the pose of the touch screen 30 through the executing mechanism 300. Specifically, in one embodiment, the visual positioning system 400 includes a first camera 410 disposed on the rotary stage 220, and a third camera 430 and a fourth camera 440 disposed on the working platform 100, respectively; the first camera 410 is disposed opposite to the first bearing area 2211 in the first direction, and is configured to capture an image of the housing 40 borne by the first bearing area 2211. The third camera 430 is disposed opposite to a shooting spot 50 in the first direction, and is configured to capture an image of the touch screen 30 to obtain the profile of the touch screen 30 in the x direction and the y direction. The fourth camera 440 is disposed opposite to the shooting spot 50 in a third direction, and is configured to capture an image of the touch screen 30 to obtain a z-direction position of the touch screen 30, where the first direction is perpendicular to the third direction, and the shooting spot 50 is located within a movable range of the touch screen 30 held by the actuator 300.
Further, in an embodiment, the work platform 100 is further provided with a detection station (not shown), and the loading station 111, the inclined insertion station 112 and the detection station are disposed at intervals in the rotation direction of the rotary stage 220. When the rotary stage 220 drives the first bearing area 2211 to move from the inclined insertion station 112 to the detection station, the visual positioning system 400 is configured to obtain fifth position information of the housing 40 assembled with the touch screen 30, identify a gap between the touch screen 30 and the housing 40, and determine whether the assembly is qualified. In particular, in one embodiment, the visual positioning system 400 includes a first camera 410 disposed on the rotary stage 220. The first camera 410 is disposed opposite to the first bearing area 2211 in the first direction, and is configured to capture an image of the housing 40 assembled with the touch screen 30 and borne on the first bearing area 2211.
Referring to fig. 8, an embodiment of the present application further provides an assembling apparatus 1, which includes the above-mentioned oblique insertion mechanism 10 and an external frame 20 covering the oblique insertion mechanism 10, a feeding opening 21 is formed in the external frame 20, a feeding station 111 is set at a position of the working platform 100 close to the feeding opening 21, during a working process, an operator is located at the feeding opening 21 and places the touch screen 30 into a cavity of the second fixture 222 through a vacuum suction pen, and places the watch case into the cavity of the first fixture 221, and then drives the first fixture 221 and the second fixture 222 on the object carrying assembly 200 to rotate to the oblique insertion station 112 through the rotation driving device 210.
In addition, with continued reference to fig. 9, an embodiment of the present application further provides a skew insertion method, which is applied to the skew insertion mechanism 10 in any of the above embodiments, where the skew insertion method includes the specific steps of:
s310, first position information of the accommodating groove 41 is acquired.
And S320, obtaining oblique interpolation inclination angle data according to the first position information.
The visual positioning system 400 may include an image capturing module and an image analyzing module, wherein the image capturing module captures a first image of the accommodating groove 41 and transmits the first image to the image analyzing module. The image analysis module obtains oblique interpolation inclination angle data according to the first image analysis calculation and transmits the oblique interpolation inclination angle data to the control device. Wherein the image acquisition module may be a high definition industrial camera.
S330, oblique interpolation inclination angle data are received, and an oblique interpolation control command is sent to the executing mechanism 300.
The control device receives the oblique interpolation tilt angle data and sends an oblique interpolation control command to the execution mechanism 300 according to the oblique interpolation tilt angle data.
S340, controlling the actuator 300 to drive the touch screen 30 to move toward the first loading area 2211 at the oblique insertion inclination angle, so that the flexible circuit board 31 is inserted into the receiving groove 41 in an oblique manner.
After receiving the oblique insertion control command, the actuator 300 drives the touch screen 30 to move toward the first loading area 2211 at the oblique insertion angle, so that the flexible circuit board 31 is inserted into the receiving groove 41 in an oblique manner.
In the oblique insertion method, by acquiring the first position information of the accommodating groove 41 and acquiring oblique insertion inclination angle data according to the first position information, the executing mechanism 300 acquires an oblique insertion control instruction to drive the touch screen 30 to move towards the first bearing area 2211 by an oblique insertion inclination angle, so that the flexible circuit board 31 is obliquely inserted into the accommodating groove 41, thereby avoiding the phenomenon that the flexible circuit board 31 is distorted and scratched due to the fact that the flexible circuit board 31 contacts the edge of the accommodating groove 41 in the assembling process, and further improving the success rate of crimping the assembled product.
Referring to fig. 10, in an embodiment, the method of skewing further comprises the step of picking up the touch screen 30:
and S110, acquiring second position information of the touch screen 30.
And S120, receiving the second position information and sending a pickup control command to the executing mechanism 300.
S130, the actuator 300 is controlled to pick up the touch screen 30.
In the oblique insertion method, before the actuator 300 picks up the touch screen 30, the vision positioning system 400 obtains the second position information of the touch screen 30, the control device receives the second position information, sends a pickup control instruction to the actuator 300, and controls the actuator 300 to pick up the touch screen 30, so that the touch screen 30 can be picked up more accurately.
Referring to fig. 11, in an embodiment, the method for obliquely inserting further includes the steps of aligning and adjusting the touch screen 30:
and S210, acquiring third position information of the shell 40.
S220, fourth position information of the touch panel 30 held by the actuator 300 is acquired.
And S230, obtaining pose correction data according to the third position information and the fourth position information.
S240, receiving the pose correction data and sending a pose adjustment instruction to the executing mechanism 300.
And S250, controlling the executing mechanism 300 to adjust the pose of the touch screen 30.
The oblique insertion method obtains the target pose data of the touch screen 30 by obtaining the third position information of the shell 40; and obtaining current pose data according to the fourth position information of the touch screen 30, and comparing the current pose data with the target pose data to obtain pose correction data. The actuator 300 can perform the attitude adjustment of the touch screen 30 and the alignment with the mounting position on the case 40 when the touch screen 30 is close to the watch case, so that the touch screen 30 is assembled on the case 40 in a preset position and attitude.
It should be noted that, in the actual working process, the steps S310 to S340 may exist independently, or exist simultaneously with the steps S110 to S130 and the steps S210 to S250, and when existing simultaneously, the steps S110 to S130 are performed first, then the steps S210 to S250 are performed, and finally the steps S310 to S340 are performed.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides an insert mechanism to one side for the equipment of touch-sensitive screen and casing, the touch-sensitive screen is equipped with flexible printed circuit board, the casing is equipped with and is used for holding flexible printed circuit board's holding tank, its characterized in that, insert the mechanism to one side and include:
a working platform;
the carrying assembly is arranged on the working platform and is provided with a first bearing area for bearing the shell;
the actuating mechanism is arranged on the working platform and positioned on one side of the carrying component, and is used for picking up the touch screen and driving the touch screen to move towards the direction close to/far away from the first bearing area;
the visual positioning system is used for acquiring first position information of the accommodating groove and obtaining oblique insertion inclination angle data according to the first position information;
the control device is electrically connected with the vision positioning system and the actuating mechanism respectively, and is used for receiving the oblique insertion inclination angle data and sending an oblique insertion control instruction to the actuating mechanism, wherein the oblique insertion control instruction is used for controlling the actuating mechanism to drive the touch screen to move towards the first bearing area by an oblique insertion inclination angle, so that the flexible circuit board is obliquely inserted into the accommodating groove.
2. The oblique inserting mechanism according to claim 1, wherein the working platform is provided with a loading station and an oblique inserting station, the object assembly comprises a rotary object stage and a rotary driving device arranged on the working platform, the rotary object stage is provided with the first bearing area and a second bearing area for bearing the touch screen, and the rotary driving device is used for driving the rotary object stage to rotate so as to enable the first bearing area and the second bearing area to move between the loading station and the oblique inserting station.
3. The tilt mechanism according to claim 2, wherein the vision positioning system comprises a first camera and a second camera respectively disposed on the rotary stage, the first camera is disposed opposite to the first carrying area in a first direction, the second camera is disposed opposite to the first carrying area in a second direction, and the first direction and the second direction form an acute angle.
4. The bezel-insertion mechanism of claim 2, wherein the visual positioning system is configured to obtain second position information of the touch screen carried in the second carrying area; the control device is used for receiving the second position information and sending a pickup control instruction to the executing mechanism, wherein the pickup control instruction is used for controlling the executing mechanism to pick up the touch screen.
5. The bezel-inserting mechanism according to claim 2, wherein the vision positioning system is configured to obtain third position information of a housing carried in the first carrying area and fourth position information of a touch screen held in the actuator, and obtain pose correction data according to the third position information and the fourth position information;
the control device is used for receiving the pose correction data and sending a pose adjusting instruction to the executing mechanism, and the pose adjusting instruction is used for controlling the executing mechanism to adjust the pose of the touch screen.
6. The tilt mechanism according to claim 5, wherein the vision positioning system comprises a first camera disposed on the rotary stage, and a third camera and a fourth camera disposed on the working platform, respectively;
the first camera is arranged opposite to the first bearing area in a first direction, the third camera is arranged opposite to a shooting point position in the first direction, the fourth camera is arranged opposite to the shooting point position in a third direction, the first direction is vertical to the third direction, and the shooting point position is located in a movable range of the touch screen kept on the execution mechanism.
7. An assembly device comprising a tilt-insertion mechanism according to any of claims 1 to 6.
8. A skew insertion method applied to the skew insertion mechanism according to any one of claims 1 to 6, the skew insertion method comprising:
acquiring first position information of the accommodating groove;
obtaining oblique interpolation dip angle data according to the first position information; receiving the oblique insertion inclination angle data and sending an oblique insertion control instruction to the executing mechanism;
and controlling the actuating mechanism to drive the touch screen to move towards the first bearing area by an inclined insertion inclination angle so as to enable the flexible circuit board to be inserted into the accommodating groove in an inclined manner.
9. The method of claim 8, further comprising:
acquiring second position information of the touch screen;
receiving the second position information and sending a pickup control instruction to the executing mechanism;
and controlling the actuating mechanism to pick up the touch screen.
10. The method of claim 8, further comprising:
acquiring third position information of the shell;
acquiring fourth position information of the touch screen held by the actuator;
obtaining pose correction data according to the third position information and the fourth position information;
receiving the pose correction data and sending a pose adjustment instruction to the executing mechanism;
and controlling the actuating mechanism to adjust the pose of the touch screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111177802.6A CN113900544B (en) | 2021-10-09 | 2021-10-09 | Oblique insertion mechanism, assembly device and oblique insertion method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111177802.6A CN113900544B (en) | 2021-10-09 | 2021-10-09 | Oblique insertion mechanism, assembly device and oblique insertion method |
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| CN113900544A true CN113900544A (en) | 2022-01-07 |
| CN113900544B CN113900544B (en) | 2024-05-03 |
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| CN113900544B (en) | 2024-05-03 |
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